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Transformations of control signals from the movement planning level to that of motoneuronal (MN) activation and force production are described in terms of the equilibrium-point (EP) hypothesis or λ model. This model is basically associated with two stages. First, movements are produced by shifting the equilibrium state of the system via specific control variables at supraspinal and spinal levels. Second, motor behaviors are typically “specified” by constant or relatively invariant control variables at “leading” levels. Examples of relative invariants are the equilibrium velocity vector and threshold muscle lengths, λ, at which MN recruitment begins. MN threshold properties and peripheral afferent …
